X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Ftrainrouteplanner.cpp;h=75d746b3c6dd103cd148ae233f90361a189c2328;hb=3dd660ffad729fbd6e75e6401f5c7f27b9013faf;hp=1c7d996c5773dac66228e21be3632c31e64620a7;hpb=776b39dfb0896aa563a220bdbf0b044425629917;p=r2c2.git

diff --git a/source/libr2c2/trainrouteplanner.cpp b/source/libr2c2/trainrouteplanner.cpp
index 1c7d996..75d746b 100644
--- a/source/libr2c2/trainrouteplanner.cpp
+++ b/source/libr2c2/trainrouteplanner.cpp
@@ -1,7 +1,10 @@
+#include <msp/core/maputils.h>
+#include <msp/time/utils.h>
 #include "catalogue.h"
 #include "layout.h"
 #include "route.h"
 #include "train.h"
+#include "trainroutemetric.h"
 #include "trainrouteplanner.h"
 #include "trainrouter.h"
 #include "vehicle.h"
@@ -11,197 +14,238 @@ using namespace Msp;
 
 namespace R2C2 {
 
-TrainRoutePlanner::TrainRoutePlanner(Layout &layout)
+TrainRoutePlanner::TrainRoutePlanner(Layout &layout):
+	goal(0),
+	timeout(10*Time::sec),
+	result(PENDING),
+	thread(0)
 {
 	const map<unsigned, Train *> &trains = layout.get_trains();
 	for(map<unsigned, Train *>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 	{
 		TrainRoutingInfo info(*i->second);
-		if(info.router && info.router->get_destination())
+		if(!info.waypoints.empty())
 			routed_trains.push_back(info);
 	}
-
-	steps.push_back(RoutingStep());
-	RoutingStep &start = steps.back();
-	for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
-		start.trains.push_back(TrainRoutingState(*i));
 }
 
-void TrainRoutePlanner::plan()
+TrainRoutePlanner::~TrainRoutePlanner()
 {
-	RoutingStep *goal = 0;
-	for(list<RoutingStep>::iterator i=steps.begin(); i!=steps.end(); ++i)
+	if(thread)
 	{
-		if(i->is_goal())
-		{
-			goal = &*i;
-			break;
-		}
-
-		if(update_states(*i))
-		{
-			int next_train = find_next_train(*i);
-			if(next_train>=0)
-				add_steps(*i, next_train);
-		}
+		thread->join();
+		delete thread;
 	}
-
-	if(goal)
-		create_routes(*goal);
 }
 
-bool TrainRoutePlanner::update_states(RoutingStep &step)
+void TrainRoutePlanner::set_timeout(const Time::TimeDelta &t)
 {
-	RoutingStep next(&step);
-	bool changes = false;
-	for(vector<TrainRoutingState>::iterator i=next.trains.begin(); i!=next.trains.end(); ++i)
-	{
-		if(i->state==ARRIVED)
-			continue;
-
-		TrainState old_state = i->state;
-		if(i->state==BLOCKED)
-			i->state = MOVING;
+	timeout = t;
+}
 
-		TrackIter next_track = i->track.next(i->path);
-		if(!next_track)
-			return false;
+TrainRoutePlanner::Result TrainRoutePlanner::plan()
+{
+	prepare_plan();
+	create_plan();
+	if(result==PENDING)
+		finalize_plan();
 
-		for(vector<TrainRoutingState>::iterator j=next.trains.begin(); j!=next.trains.end(); ++j)
-			if(j!=i)
-			{
-				if(j->track.track()==next_track.track())
-				{
-					unsigned other_exit = j->track.reverse(j->path).entry();
-					if(next_track.entry()==other_exit)
-						return false;
-				}
-				else if(!j->is_occupied(*next_track))
-					continue;
+	return result;
+}
 
-				i->state = BLOCKED;
-			}
+void TrainRoutePlanner::plan_async()
+{
+	if(thread)
+		throw logic_error("already planning");
 
-		if(i->state!=old_state)
-			changes = true;
-	}
+	prepare_plan();
+	thread = new PlanningThread(*this);
+}
 
-	if(changes)
+TrainRoutePlanner::Result TrainRoutePlanner::check()
+{
+	if(result==PENDING && goal)
 	{
-		list<RoutingStep>::iterator i;
-		for(i=steps.begin(); (i!=steps.end() && !(next<*i)); ++i) ;
-		steps.insert(i, next);
+		if(thread)
+		{
+			thread->join();
+			delete thread;
+			thread = 0;
+		}
+		finalize_plan();
 	}
 
-	return !changes;
+	return result;
 }
 
-int TrainRoutePlanner::find_next_train(RoutingStep &step)
+const list<Route *> &TrainRoutePlanner::get_routes_for(const Train &train) const
 {
-	Time::TimeDelta min_dt;
-	int next_train = -1;
-	for(unsigned i=0; i<step.trains.size(); ++i)
-		if(step.trains[i].state==MOVING)
-		{
-			Time::TimeDelta dt = step.trains[i].get_time_to_next_track();
-			if(dt<min_dt || next_train<0)
-			{
-				min_dt = dt;
-				next_train = i;
-			}
-		}
+	return get_train_info(train).routes;
+}
 
-	return next_train;
+const list<TrainRouter::SequencePoint> &TrainRoutePlanner::get_sequence_for(const Train &train) const
+{
+	return get_train_info(train).sequence;
 }
 
-void TrainRoutePlanner::add_steps(RoutingStep &step, unsigned train_index)
+const TrainRoutePlanner::TrainRoutingInfo &TrainRoutePlanner::get_train_info(const Train &train) const
 {
-	TrainRoutingState &train = step.trains[train_index];
-	Time::TimeDelta dt = train.get_time_to_next_track();
-	TrackIter next_track = train.track.next(train.path);
+	for(vector<TrainRoutingInfo>::const_iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
+		if(i->train==&train)
+			return *i;
 
-	list<RoutingStep> new_steps;
+	throw key_error(train.get_name());
+}
 
-	RoutingStep next(&step);
-	next.advance(dt);
-	TrainRouter &router = *train.info->router;
-	if(train.waypoint<0 && router.is_destination(*train.track) && !router.is_destination(*next_track))
-	{
-		next.trains[train_index].state = ARRIVED;
-		new_steps.push_back(next);
-	}
-	else
+const TrainRoutePlanner::RoutingStep &TrainRoutePlanner::get_step()
+{
+	steps.splice(steps.end(), queue, queue.begin());
+	return steps.back();
+}
+
+void TrainRoutePlanner::prepare_plan()
+{
+	steps.clear();
+	queue.clear();
+	goal = 0;
+	result = PENDING;
+
+	queue.push_back(RoutingStep());
+	RoutingStep &start = queue.back();
+	for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
+		start.trains.push_back(TrainRoutingState(*i));
+	start.update_estimate();
+}
+
+void TrainRoutePlanner::create_plan()
+{
+	Time::TimeStamp timeout_stamp = Time::now()+timeout;
+	unsigned count = 0;
+	while(!queue.empty())
 	{
-		if(train.waypoint>=0 && router.is_waypoint(train.waypoint, *train.track) && !router.is_waypoint(train.waypoint, *next_track))
+		const RoutingStep &step = get_step();
+		if(step.is_goal())
 		{
-			++next.trains[train_index].waypoint;
-			if(next.trains[train_index].waypoint>=static_cast<int>(router.get_n_waypoints()))
-				next.trains[train_index].waypoint = -1;
+			goal = &step;
+			return;
 		}
 
-		next.trains[train_index].advance_track(0);
-
-		const TrackType::Endpoint &next_entry_ep = next_track.endpoint();
-		for(unsigned i=0; next_entry_ep.paths>>i; ++i)
-			if(next_entry_ep.has_path(i))
-			{
-				next.trains[train_index].path = i;
-				new_steps.push_back(next);
-			}
+		add_steps(step);
 
-		if(next_entry_ep.paths!=next_track->get_type().get_paths())
+		if(++count>=1000)
 		{
-			RoutingStep wait(&step);
-			wait.advance(dt);
-			wait.trains[train_index].state = WAITING;
-			new_steps.push_back(wait);
+			if(Time::now()>timeout_stamp)
+				break;
+			count = 0;
 		}
 	}
 
+	result = FAILED;
+}
+
+void TrainRoutePlanner::add_steps(const RoutingStep &step)
+{
+	list<RoutingStep> new_steps;
+	step.create_successors(new_steps);
 	new_steps.sort();
-	steps.merge(new_steps);
+	queue.merge(new_steps);
 }
 
-void TrainRoutePlanner::create_routes(RoutingStep &goal)
+void TrainRoutePlanner::finalize_plan()
 {
 	for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
 	{
-		i->route = new Route(i->train->get_layout());
-		i->route->set_name("Router");
-		i->route->set_temporary(true);
+		i->routes.clear();
+		i->sequence.clear();
+		for(unsigned j=0; j<2; ++j)
+			i->track_history[j] = 0;
 	}
 
-	for(RoutingStep *i=&goal; i; i=i->prev)
-	{
-		for(vector<TrainRoutingState>::iterator j=i->trains.begin(); j!=i->trains.end(); ++j)
+	map<Track *, TrainRouter::SequencePoint *> sequenced_tracks;
+	unsigned sequence = steps.size();
+	for(const RoutingStep *i=goal; i; i=i->prev)
+		for(vector<TrainRoutingState>::const_iterator j=i->trains.begin(); j!=i->trains.end(); ++j)
 		{
-			if(j->state==WAITING || j->state==BLOCKED)
-				j->info->waits.push_front(&*j);
-			j->info->route->add_track(*j->track);
-		}
-	}
+			Track **history = j->info->track_history;
+			if(j->track.track()==history[0])
+				continue;
 
-	for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
-	{
-		i->router->set_route(i->route);
-		TrainRoutingState *current_wait = 0;
-		for(list<TrainRoutingState *>::iterator j=i->waits.begin(); j!=i->waits.end(); ++j)
-			if(!current_wait || (*j)->track.track()!=current_wait->track.track())
+			Route *route = 0;
+			bool start_new_route = true;
+			if(!j->info->routes.empty())
 			{
-				Block &block = (*j)->track.next()->get_block();
-				i->router->add_wait(block, 0);
-				current_wait = *j;
+				route = j->info->routes.front();
+				start_new_route = route->has_track(*j->track);
+				if(!start_new_route)
+				{
+					unsigned nls = j->track->get_n_link_slots();
+					for(unsigned k=0; (!start_new_route && k<nls); ++k)
+					{
+						Track *link = j->track->get_link(k);
+						start_new_route = (link && link!=history[0] && route->has_track(*link));
+					}
+				}
 			}
-	}
+
+			if(start_new_route)
+			{
+				route = new Route(j->info->train->get_layout());
+				route->set_name("Router");
+				route->set_temporary(true);
+				for(unsigned k=0; (k<2 && history[k]); ++k)
+					route->add_track(*history[k]);
+				j->info->routes.push_front(route);
+			}
+
+			route->add_track(*j->track.track());
+			history[1] = history[0];
+			history[0] = j->track.track();
+
+			bool waitable = j->track.endpoint().paths!=j->track->get_type().get_paths();
+			map<Track *, TrainRouter::SequencePoint *>::iterator k = sequenced_tracks.find(j->track.track());
+			if(k!=sequenced_tracks.end())
+			{
+				if(!k->second->preceding_train)
+				{
+					k->second->preceding_train = j->info->train;
+					k->second->sequence_in = sequence;
+				}
+				j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
+				if(waitable)
+					k->second = &j->info->sequence.front();
+				--sequence;
+			}
+			else if(waitable)
+			{
+				j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
+				sequenced_tracks[j->track.track()] = &j->info->sequence.front();
+				--sequence;
+			}
+		}
+
+	result = COMPLETE;
 }
 
 
 TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
 	train(&t),
 	speed(train->get_maximum_speed()),
+	first_noncritical(train->get_last_critical_block().next().block()),
 	router(train->get_ai_of_type<TrainRouter>()),
-	route(0)
+	has_duration(false)
 {
+	if(unsigned n_wps = router->get_n_waypoints())
+	{
+		waypoints.reserve(n_wps),
+		metrics.reserve(n_wps);
+		for(unsigned i=0; i<n_wps; ++i)
+		{
+			waypoints.push_back(router->get_waypoint(i));
+			metrics.push_back(&router->get_metric(i));
+		}
+		has_duration = router->get_trip_duration();
+	}
+
 	// If no maximum speed is specified, use a sensible default
 	if(!speed)
 		speed = 20*train->get_layout().get_catalogue().get_scale();
@@ -239,10 +283,13 @@ TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
 
 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
 	info(&inf),
+	critical(true),
 	occupied_tracks(0),
 	state(MOVING),
 	delay(info->router->get_departure_delay()),
-	waypoint(info->router->get_n_waypoints() ? 0 : -1)
+	duration(info->router->get_trip_duration()),
+	waypoint(0),
+	blocked_by(-1)
 {
 	const Vehicle *veh = &info->train->get_vehicle(0);
 	// TODO margins
@@ -264,25 +311,33 @@ TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
 			break;
 		iter = iter.next();
 	}
+
+	update_estimate();
 }
 
 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
 	info(other.info),
 	track(other.track),
 	path(other.path),
+	critical(other.critical),
 	occupied_tracks(other.occupied_tracks),
 	offset(other.offset),
 	back_offset(other.back_offset),
 	state(other.state),
 	delay(other.delay),
-	waypoint(other.waypoint)
+	duration(other.duration),
+	waypoint(other.waypoint),
+	distance_traveled(other.distance_traveled),
+	remaining_estimate(other.remaining_estimate),
+	wait_time(other.wait_time),
+	blocked_by(other.blocked_by)
 {
 	++occupied_tracks->refcount;
 }
 
 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
 {
-	if(!--occupied_tracks->refcount)
+	if(occupied_tracks && !--occupied_tracks->refcount)
 		delete occupied_tracks;
 }
 
@@ -291,8 +346,11 @@ Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() c
 	return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
 }
 
-bool TrainRoutePlanner::TrainRoutingState::is_occupied(Track &trk) const
+bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
 {
+	if(state==ARRIVED && !duration && info->has_duration)
+		return false;
+
 	OccupiedTrack *occ = occupied_tracks;
 	for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
 		if(occ->track==&trk)
@@ -300,26 +358,93 @@ bool TrainRoutePlanner::TrainRoutingState::is_occupied(Track &trk) const
 	return false;
 }
 
+bool TrainRoutePlanner::TrainRoutingState::check_arrival()
+{
+	TrackIter next_track = track.next(path);
+
+	const TrainRouter::Waypoint &wp = info->waypoints[waypoint];
+	if(wp.chain->has_track(*track) && !wp.chain->has_track(*next_track))
+		if(wp.direction==TrackChain::UNSPECIFIED || track==wp.chain->iter_for(*track, wp.direction))
+		{
+			if(waypoint+1<info->waypoints.size())
+				++waypoint;
+			else
+			{
+				state = ARRIVED;
+				return true;
+			}
+		}
+
+	if(info->first_noncritical->has_track(*track))
+		critical = false;
+
+	return false;
+}
+
 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
 {
 	offset += distance;
 	back_offset += distance;
 
-	OccupiedTrack *last_occ = occupied_tracks;
-	for(unsigned n=occupied_tracks->n_tracks; n>1; --n)
-		last_occ = last_occ->next;
+	unsigned count_to_free = 0;
+	unsigned last_sensor_addr = 0;
+	float distance_after_sensor = 0;
+	OccupiedTrack *occ = occupied_tracks;
+	for(unsigned n=occupied_tracks->n_tracks; n>0; --n)
+	{
+		if(unsigned saddr = occ->track->get_sensor_address())
+		{
+			if(saddr!=last_sensor_addr)
+			{
+				count_to_free = 0;
+				distance_after_sensor = 0;
+			}
+			last_sensor_addr = saddr;
+		}
 
-	// XXX What if there's multiple tracks to remove?
-	if(back_offset>last_occ->path_length)
+		++count_to_free;
+		distance_after_sensor += occ->path_length;
+
+		occ = occ->next;
+	}
+
+	if(count_to_free && back_offset>distance_after_sensor)
 	{
-		back_offset -= last_occ->path_length;
+		back_offset -= distance_after_sensor;
 		if(occupied_tracks->refcount>1)
 		{
 			--occupied_tracks->refcount;
 			occupied_tracks = new OccupiedTrack(*occupied_tracks);
 		}
-		--occupied_tracks->n_tracks;
+		occupied_tracks->n_tracks -= count_to_free;
 	}
+
+	distance_traveled += distance;
+	remaining_estimate -= distance;
+}
+
+void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
+{
+	if(delay>=dt)
+	{
+		delay -= dt;
+		return;
+	}
+
+	float secs = dt/Time::sec;
+	if(delay)
+	{
+		secs -= delay/Time::sec;
+		delay = Time::zero;
+	}
+
+	if(duration)
+		duration = max(duration-secs*Time::sec, Time::zero);
+
+	if(state==MOVING)
+		advance(info->speed*secs);
+	else if(state!=ARRIVED)
+		wait_time += secs*Time::sec;
 }
 
 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
@@ -332,32 +457,217 @@ void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
 	offset = 0;
 }
 
+void TrainRoutePlanner::TrainRoutingState::update_estimate()
+{
+	TrackIter iter = track.reverse(path);
+	remaining_estimate = info->metrics[waypoint]->get_distance_from(*iter.track(), iter.entry());
+	if(remaining_estimate>=0)
+		remaining_estimate += track->get_type().get_path_length(path)-offset;
+}
+
+bool TrainRoutePlanner::TrainRoutingState::is_viable() const
+{
+	if(remaining_estimate<0)
+		return false;
+	if(critical && state==BLOCKED)
+		return false;
+	return true;
+}
+
 
 TrainRoutePlanner::RoutingStep::RoutingStep():
 	prev(0)
 { }
 
-TrainRoutePlanner::RoutingStep::RoutingStep(RoutingStep *p):
+TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
 	time(p->time),
+	penalty(p->penalty),
+	cost_estimate(p->cost_estimate),
 	trains(p->trains),
 	prev(p)
 { }
 
-void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
+void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
 {
-	time += dt;
+	RoutingStep next(this);
+	if(next.update_states())
+	{
+		if(next.check_deadlocks())
+			return;
+
+		new_steps.push_back(next);
+		return;
+	}
+
+	int train_index = find_next_train();
+	if(train_index<0)
+		return;
+
+	TrainRoutingState &train = next.trains[train_index];
+
+	Time::TimeDelta dt = train.get_time_to_next_track();
+	next.advance(dt);
+
+	if(train.check_arrival())
+	{
+		new_steps.push_back(next);
+		return;
+	}
+
+	train.advance_track(0);
+
+	const TrackType::Endpoint &entry_ep = train.track.endpoint();
+	if(train.critical)
+	{
+		train.path = train.track->get_type().coerce_path(train.track.entry(), train.track->get_active_path());
+		train.update_estimate();
+		next.update_estimate();
+		if(next.is_viable())
+			new_steps.push_back(next);
+	}
+	else
+	{
+		for(unsigned i=0; entry_ep.paths>>i; ++i)
+			if(entry_ep.has_path(i))
+			{
+				train.path = i;
+				train.update_estimate();
+				next.update_estimate();
+				if(next.is_viable())
+					new_steps.push_back(next);
+			}
+	}
+
+	new_steps.sort();
+	for(list<RoutingStep>::iterator i=new_steps.begin(); ++i!=new_steps.end(); )
+	{
+		i->penalty += 5*Time::sec;
+		i->update_estimate();
+	}
+
+	if(entry_ep.paths!=train.track->get_type().get_paths() && !train.critical)
+	{
+		RoutingStep wait(this);
+		wait.advance(dt);
+		wait.trains[train_index].state = WAITING;
+		wait.penalty += 15*Time::sec;
+		wait.update_estimate();
+		if(wait.is_viable())
+			new_steps.push_back(wait);
+	}
+}
+
+bool TrainRoutePlanner::RoutingStep::update_states()
+{
+	bool changes = false;
 	for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
 	{
-		if(i->delay)
+		if(i->state==ARRIVED)
+			continue;
+
+		TrainState old_state = i->state;
+
+		TrackIter next_track = i->track.next(i->path);
+		if(next_track)
 		{
-			i->delay -= dt;
-			if(i->delay>Time::zero)
-				continue;
-			i->delay = Time::zero;
+			i->blocked_by = get_occupant(*next_track);
+			if(i->blocked_by>=0)
+			{
+				if(i->info->first_noncritical->has_track(*next_track))
+					i->critical = false;
+				i->state = BLOCKED;
+			}
+			else if(i->state==BLOCKED)
+				i->state = MOVING;
+		}
+		else
+			i->state = BLOCKED;
+
+		if(i->state!=old_state)
+			changes = true;
+	}
+
+	return changes;
+}
+
+bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
+{
+	for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
+	{
+		if(i->state!=BLOCKED)
+			continue;
+
+		if(i->blocked_by<0)
+			return true;
+
+		int slow = i->blocked_by;
+		int fast = trains[slow].blocked_by;
+		while(fast>=0 && trains[fast].blocked_by>=0)
+		{
+			if(fast==slow)
+				return true;
+
+			slow = trains[slow].blocked_by;
+			fast = trains[trains[fast].blocked_by].blocked_by;
 		}
-		else if(i->state==MOVING)
-			i->advance(i->info->speed*(dt/Time::sec));
 	}
+
+	return false;
+}
+
+int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
+{
+	for(unsigned i=0; i<trains.size(); ++i)
+		if(trains[i].is_occupying(track))
+			return i;
+
+	return -1;
+}
+
+int TrainRoutePlanner::RoutingStep::find_next_train() const
+{
+	Time::TimeDelta min_dt;
+	int next_train = -1;
+	for(unsigned i=0; i<trains.size(); ++i)
+		if(trains[i].state==MOVING)
+		{
+			Time::TimeDelta dt = trains[i].get_time_to_next_track();
+			if(dt<min_dt || next_train<0)
+			{
+				min_dt = dt;
+				next_train = i;
+			}
+		}
+
+	return next_train;
+}
+
+void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
+{
+	time += dt;
+	for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
+		i->advance(dt);
+}
+
+void TrainRoutePlanner::RoutingStep::update_estimate()
+{
+	cost_estimate = penalty;
+	for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
+		if(i->remaining_estimate>=0)
+			cost_estimate += i->wait_time+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
+}
+
+bool TrainRoutePlanner::RoutingStep::is_viable() const
+{
+	for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
+		if(!i->is_viable())
+			return false;
+
+	for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
+		if(i->state==MOVING)
+			return true;
+
+	return false;
 }
 
 bool TrainRoutePlanner::RoutingStep::is_goal() const
@@ -370,7 +680,19 @@ bool TrainRoutePlanner::RoutingStep::is_goal() const
 
 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
 {
-	return time<other.time;
+	return cost_estimate<other.cost_estimate;
+}
+
+
+TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
+	planner(p)
+{
+	launch();
+}
+
+void TrainRoutePlanner::PlanningThread::main()
+{
+	planner.create_plan();
 }
 
 } // namespace R2C2